SCDS/FTCRoadRunnerRobotics
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Static-ization of variables that are modified constantly

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This commit is contained in:
Carlos Rivas
2024-09-13 13:36:51 -07:00
parent a0126ba1a2
commit fb570d6be8
2 changed files with 49 additions and 21 deletions
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48
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
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@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode;
import static org.firstinspires.ftc.teamcode.MecanumDriveParameters.*;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.canvas.Canvas;
@ -63,14 +65,14 @@ public final class MecanumDrive {
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
// drive model parameters
public double inPerTick = 1;
public double lateralInPerTick = inPerTick;
public double trackWidthTicks = 0;
public double inPerTick = INCHES_PER_TICK_VALUE;
public double lateralInPerTick = LATERAL_INCHES_PER_TICK_VALUE;
public double trackWidthTicks = TRACK_WIDTH_IN_TICKS_VALUE;
// feedforward parameters (in tick units)
public double kS = 0;
public double kV = 0;
public double kA = 0;
public double kS = KS_VALUE;
public double kV = KV_VALUE;
public double kA = KA_VALUE;
// path profile parameters (in inches)
public double maxWheelVel = 50;
@ -94,15 +96,18 @@ public final class MecanumDrive {
public static Params PARAMS = new Params();
public final MecanumKinematics kinematics = new MecanumKinematics(
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
PARAMS.inPerTick * PARAMS.trackWidthTicks,
PARAMS.inPerTick / PARAMS.lateralInPerTick);
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
public final VelConstraint defaultVelConstraint =
new MinVelConstraint(Arrays.asList(
kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
new AngularVelConstraint(PARAMS.maxAngVel)
));
public final AccelConstraint defaultAccelConstraint =
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
@ -135,11 +140,7 @@ public final class MecanumDrive {
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
imu = lazyImu.get();
// TODO: reverse encoders if needed
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
}
@Override
@ -215,23 +216,28 @@ public final class MecanumDrive {
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
}
// TODO: make sure your config has motors with these names (or change them)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
leftFront = hardwareMap.get(DcMotorEx.class, "Drive front lt");
leftBack = hardwareMap.get(DcMotorEx.class, "Drive back lt");
rightBack = hardwareMap.get(DcMotorEx.class, "Drive back rt");
rightFront = hardwareMap.get(DcMotorEx.class, "Drive front rt");
/*
Configure motors definitions
*/
leftFront = hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR);
leftBack = hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR);
rightFront = hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR);
rightBack = hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR);
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
// TODO: reverse motor directions if needed
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
/*
Configure motors direction
*/
//leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
/*
IMU Orientation Application
See https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
*/
lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

22
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDriveParameters.java Normal file
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@ -0,0 +1,22 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
public class MecanumDriveParameters {
// Roadrunner tuning parameters
public static final double INCHES_PER_TICK_VALUE = 125.5/42126.8333333;
public static final double LATERAL_INCHES_PER_TICK_VALUE = 0.0026542073080477006;
public static final double TRACK_WIDTH_IN_TICKS_VALUE = 4012.7667474312616;
// FeedForward parameters (in tick units)
public static final double KS_VALUE = 0.7579547290234911;
public static final double KV_VALUE = 0.0005724562271687877;
public static final double KA_VALUE = 0;
// Robot motor configurations
public static final String FRONT_LEFT_MOTOR = "Drive front lt";
public static final String BACK_LEFT_MOTOR = "Drive back lt";
public static final String FRONT_RIGHT_MOTOR = "Drive front rt";
public static final String BACK_RIGHT_MOTOR = "Drive back rt";
}